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From: <hsu...@us...> - 2009-09-04 21:09:40
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Revision: 23873
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23873&view=rev
Author: hsujohnhsu
Date: 2009-09-04 21:09:32 +0000 (Fri, 04 Sep 2009)
Log Message:
-----------
fix demo
Modified Paths:
--------------
pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/test_friction.world
Modified: pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/test_friction.world
===================================================================
--- pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/test_friction.world 2009-09-04 21:09:13 UTC (rev 23872)
+++ pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/test_friction.world 2009-09-04 21:09:32 UTC (rev 23873)
@@ -25,7 +25,7 @@
<!-- here's the global contact cfm/erp -->
<physics:ode>
<stepTime>0.001</stepTime>
- <gravity>0 0 -9.8</gravity>
+ <gravity>0.0 -1.0 -1.0</gravity>
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
<quickStep>true</quickStep>
@@ -66,7 +66,6 @@
</rendering:ogre>
-
<model:physical name="gplane">
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
@@ -112,9 +111,9 @@
- <!-- The Slide-->
+ <!-- The Slide
<model:physical name="slide1_model">
- <static>true</static>
+ <static>false</static>
<xyz> 0.0 0.0 0.00</xyz>
<rpy> 0.0 0.0 0.00</rpy>
<body:box name="slide1_legs_body">
@@ -126,7 +125,7 @@
<xyz> 0.0 5.0 13</xyz>
<rpy> 45.0 0.0 0.00</rpy>
<size> 50.0 20.0 1.0</size>
- <mass> 1000.0</mass>
+ <mass> 100.0</mass>
<visual>
<size>50.0 20.0 1.0</size>
<material>PR2/Red</material>
@@ -134,13 +133,24 @@
</visual>
</geom:box>
</body:box>
+ <joint:hinge name="slide_fixed_joint">
+ <body1>slide1_legs_body</body1>
+ <body2>world</body2>
+ <anchor>slide1_legs_body</anchor>
+ <lowStop>0</lowStop>
+ <highStop>0</highStop>
+ <axis>1 0 0</axis>
+ </joint:hinge>
+
</model:physical>
+ -->
+
<!-- boxes -->
<model:physical name="box_01_model">
- <xyz> 2.0 8.0 17.42</xyz>
- <rpy> 45.0 0.0 0.0</rpy>
+ <xyz> 2.0 8.0 0.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
<body:box name="box_01_body">
<massMatrix>true</massMatrix>
<mass>1.0</mass>
@@ -171,8 +181,8 @@
</model:physical>
<model:physical name="box_02_model">
- <xyz> 4.0 8.0 17.42</xyz>
- <rpy> 45.0 0.0 0.0</rpy>
+ <xyz> 4.0 8.0 0.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
<body:box name="box_02_body">
<massMatrix>true</massMatrix>
<mass>1.0</mass>
@@ -203,8 +213,8 @@
</model:physical>
<model:physical name="box_03_model">
- <xyz> 6.0 8.0 17.42</xyz>
- <rpy> 45.0 0.0 0.0</rpy>
+ <xyz> 6.0 8.0 0.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
<body:box name="box_03_body">
<massMatrix>true</massMatrix>
<mass>1.0</mass>
@@ -235,8 +245,8 @@
</model:physical>
<model:physical name="box_04_model">
- <xyz> 8.0 8.0 17.42</xyz>
- <rpy> 45.0 0.0 0.0</rpy>
+ <xyz> 8.0 8.0 0.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
<body:box name="box_04_body">
<massMatrix>true</massMatrix>
<mass>1.0</mass>
@@ -267,8 +277,8 @@
</model:physical>
<model:physical name="box_05_model">
- <xyz> 10.0 8.0 17.42</xyz>
- <rpy> 45.0 0.0 0.0</rpy>
+ <xyz> 10.0 8.0 0.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
<body:box name="box_05_body">
<massMatrix>true</massMatrix>
<mass>1.0</mass>
@@ -299,8 +309,8 @@
</model:physical>
<model:physical name="box_06_model">
- <xyz> 12.0 8.0 17.42</xyz>
- <rpy> 45.0 0.0 0.0</rpy>
+ <xyz> 12.0 8.0 0.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
<body:box name="box_06_body">
<massMatrix>true</massMatrix>
<mass>1.0</mass>
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